fixed launch files and rviz config

locker98_tools_bringup/launch/slam.launch.py

@@ -0,0 +1,49 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+import os
+
+def generate_launch_description():
+    # Declare arguments
+    use_sim_time = LaunchConfiguration('use_sim_time', default='False')
+
+    # Get package share directories
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    slam_toolbox_dir = get_package_share_directory('slam_toolbox')
+    locker98_tools_bringup_dir = get_package_share_directory('locker98_tools_bringup')
+
+    # Include the navigation launch file
+    navigation_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(nav2_bringup_dir, 'launch', 'navigation_launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    # Include the SLAM toolbox launch file
+    slam_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(slam_toolbox_dir, 'launch', 'online_async_launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    # RViz2 node
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
+        arguments=[
+            '-d', os.path.join(locker98_tools_bringup_dir, 'rviz', 'slam_config.rviz')
+        ]
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument('use_sim_time', default_value='False', description='Use simulation time'),
+        navigation_launch,
+        slam_launch,
+        rviz2_node
+    ])

locker98_tools_bringup/launch/slam.launch.xml

@@ -1,12 +0,0 @@
-<launch>
-    <arg name="use_sim_time" default="False" />
-    <arg name="map"/>
-
-    <include file="$(find-pkg-share nav2_bringup)/launch/bringup_launch.py">
-        <arg name="map" value="$(arg map)"/>
-        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
-    </include>
-
-    <!--<node pkg="rviz2" executable="rviz2" output="screen"  args="-d $(find-pkg-share locker98_tools_bringup)/rviz/nav2_config.rviz" />
-    -->
-</launch>

locker98_tools_bringup/rviz/my_map.yaml

@@ -1,7 +0,0 @@
-image: my_map.pgm
-mode: trinary
-resolution: 0.05
-origin: [-3.25, -3.99, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25

locker98_tools_bringup/rviz/nav2_config.rviz

@@ -1,23 +1,18 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 87
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /Status1
+        - /TF1/Frames1
-        - /Map1
+        - /TF1/Tree1
-        - /Map1/Topic1
+      Splitter Ratio: 0.5833333134651184
-        - /LaserScan1
+    Tree Height: 351
-        - /Global cost map1
-        - /Local Cost Map1
-      Splitter Ratio: 0.5
-    Tree Height: 637
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
     Expanded:
-      - /2D Goal Pose1
       - /Publish Point1
     Name: Tool Properties
     Splitter Ratio: 0.5886790156364441
@@ -26,11 +21,8 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
-  - Class: rviz_common/Time
+  - Class: nav2_rviz_plugins/Navigation 2
-    Experimental: false
+    Name: Navigation 2
-    Name: Time
-    SyncMode: 0
-    SyncSource: LaserScan
 Visualization Manager:
   Class: ""
   Displays:
@@ -52,26 +44,73 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 0.699999988079071
+    - Alpha: 1
-      Class: rviz_default_plugins/Map
+      Class: rviz_default_plugins/RobotModel
-      Color Scheme: map
+      Collision Enabled: false
-      Draw Behind: false
+      Description File: ""
-      Enabled: true
+      Description Source: Topic
-      Name: Map
+      Description Topic:
-      Topic:
-        Depth: 5
-        Durability Policy: Transient Local
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /map
-      Update Topic:
         Depth: 5
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /map_updates
+        Value: /robot_description
-      Use Timestamp: false
+      Enabled: false
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: ""
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: false
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        base_scan:
+          Value: true
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_link:
+          Value: true
+        camera_rgb_frame:
+          Value: true
+        camera_rgb_optical_frame:
+          Value: true
+        caster_back_left_link:
+          Value: true
+        caster_back_right_link:
+          Value: true
+        imu_link:
+          Value: true
+        odom:
+          Value: true
+        wheel_left_link:
+          Value: true
+        wheel_right_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
       Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
@@ -96,92 +135,99 @@ Visualization Manager:
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
-      Style: Flat Squares
+      Style: Points
       Topic:
         Depth: 5
         Durability Policy: Volatile
         Filter size: 10
         History Policy: Keep Last
-        Reliability Policy: Reliable
+        Reliability Policy: Best Effort
         Value: /scan
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: rviz_default_plugins/TF
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Decay Time: 0
       Enabled: true
-      Frame Timeout: 15
+      Invert Rainbow: false
-      Frames:
+      Max Color: 255; 255; 255
-        All Enabled: true
+      Max Intensity: 4096
-        base_footprint:
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Bumper Hit
+      Position Transformer: ""
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.07999999821186066
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /mobile_base/sensors/bumper_pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
       Value: true
-        base_link:
+    - Alpha: 1
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 1
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
       Value: true
-        base_scan:
+    - Alpha: 1
+      Class: nav2_rviz_plugins/ParticleCloud
+      Color: 0; 180; 0
+      Enabled: true
+      Max Arrow Length: 0.30000001192092896
+      Min Arrow Length: 0.019999999552965164
+      Name: Amcl Particle Swarm
+      Shape: Arrow (Flat)
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /particle_cloud
       Value: true
-        camera_depth_frame:
+    - Class: rviz_common/Group
-          Value: true
+      Displays:
-        camera_depth_optical_frame:
+        - Alpha: 0.30000001192092896
-          Value: true
-        camera_link:
-          Value: true
-        camera_rgb_frame:
-          Value: true
-        camera_rgb_optical_frame:
-          Value: true
-        caster_back_left_link:
-          Value: true
-        caster_back_right_link:
-          Value: true
-        imu_link:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-        wheel_left_link:
-          Value: true
-        wheel_right_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: false
-      Tree:
-        map:
-          odom:
-            base_footprint:
-              base_link:
-                base_scan:
-                  {}
-                camera_link:
-                  camera_depth_frame:
-                    camera_depth_optical_frame:
-                      {}
-                  camera_rgb_frame:
-                    camera_rgb_optical_frame:
-                      {}
-                caster_back_left_link:
-                  {}
-                caster_back_right_link:
-                  {}
-                imu_link:
-                  {}
-                wheel_left_link:
-                  {}
-                wheel_right_link:
-                  {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 0.699999988079071
           Class: rviz_default_plugins/Map
           Color Scheme: costmap
           Draw Behind: false
           Enabled: true
-      Name: Global cost map
+          Name: Global Costmap
           Topic:
-        Depth: 5
+            Depth: 1
-        Durability Policy: Volatile
+            Durability Policy: Transient Local
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
@@ -194,15 +240,115 @@ Visualization Manager:
             Value: /global_costmap/costmap_updates
           Use Timestamp: false
           Value: true
+        - Alpha: 0.30000001192092896
+          Class: rviz_default_plugins/Map
+          Color Scheme: costmap
+          Draw Behind: false
+          Enabled: true
+          Name: Downsampled Costmap
+          Topic:
+            Depth: 1
+            Durability Policy: Transient Local
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /downsampled_costmap
+          Update Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /downsampled_costmap_updates
+          Use Timestamp: false
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz_default_plugins/Path
+          Color: 255; 0; 0
+          Enabled: true
+          Head Diameter: 0.019999999552965164
+          Head Length: 0.019999999552965164
+          Length: 0.30000001192092896
+          Line Style: Lines
+          Line Width: 0.029999999329447746
+          Name: Path
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: Arrows
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.004999999888241291
+          Shaft Length: 0.019999999552965164
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /plan
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 125; 125; 125
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: VoxelGrid
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.05000000074505806
+          Style: Boxes
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /global_costmap/voxel_marked_cloud
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Class: rviz_default_plugins/Polygon
+          Color: 25; 255; 0
+          Enabled: false
+          Name: Polygon
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /global_costmap/published_footprint
+          Value: false
+      Enabled: true
+      Name: Global Planner
+    - Class: rviz_common/Group
+      Displays:
         - Alpha: 0.699999988079071
           Class: rviz_default_plugins/Map
           Color Scheme: costmap
           Draw Behind: false
           Enabled: true
-      Name: Local Cost Map
+          Name: Local Costmap
           Topic:
-        Depth: 5
+            Depth: 1
-        Durability Policy: Volatile
+            Durability Policy: Transient Local
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
@@ -215,6 +361,159 @@ Visualization Manager:
             Value: /local_costmap/costmap_updates
           Use Timestamp: false
           Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz_default_plugins/Path
+          Color: 0; 12; 255
+          Enabled: true
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Lines
+          Line Width: 0.029999999329447746
+          Name: Local Plan
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_plan
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: false
+          Name: Trajectories
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /marker
+          Value: false
+        - Alpha: 1
+          Class: rviz_default_plugins/Polygon
+          Color: 25; 255; 0
+          Enabled: true
+          Name: Polygon
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_costmap/published_footprint
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: RGB8
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: VoxelGrid
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_costmap/voxel_marked_cloud
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: true
+      Name: Controller
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/Image
+          Enabled: true
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: RealsenseCamera
+          Normalize Range: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /intel_realsense_r200_depth/image_raw
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: RGB8
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: RealsenseDepthImage
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Flat Squares
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /intel_realsense_r200_depth/points
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: false
+      Name: Realsense
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /waypoints
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -222,8 +521,6 @@ Visualization Manager:
     Frame Rate: 30
   Name: root
   Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
     - Class: rviz_default_plugins/MoveCamera
     - Class: rviz_default_plugins/Select
     - Class: rviz_default_plugins/FocusCamera
@@ -239,13 +536,6 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /initialpose
-    - Class: rviz_default_plugins/SetGoal
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /goal_pose
     - Class: rviz_default_plugins/PublishPoint
       Single click: true
       Topic:
@@ -254,48 +544,46 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /clicked_point
+    - Class: nav2_rviz_plugins/GoalTool
   Transformation:
     Current:
       Class: rviz_default_plugins/TF
   Value: true
   Views:
     Current:
-      Class: rviz_default_plugins/Orbit
+      Angle: -1.5707999467849731
-      Distance: 6.541196823120117
+      Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Focal Point:
-        X: -0.873987078666687
-        Y: 1.3103702068328857
-        Z: -0.06853076070547104
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.421534776687622
+      Scale: 160
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
+      Value: TopDownOrtho (rviz_default_plugins)
-      Yaw: 0.7348731160163879
+      X: 0
+      Y: 0
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1001
+  Height: 932
   Hide Left Dock: false
-  Hide Right Dock: false
+  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000323fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000323000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011000000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004e00000323000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002e701000003fb0000000800540069006d00650100000000000004500000000000000000000005040000032300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Navigation 2:
-  Selection:
     collapsed: false
-  Time:
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000032dfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e000001ae000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000001fd0000017e0000017e01000003fb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002e01000003000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000049e0000032d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  RealsenseCamera:
+    collapsed: false
+  Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: false
+    collapsed: true
-  Width: 1920
+  Width: 1545
-  X: 0
+  X: 375
-  Y: 0
+  Y: 69

locker98_tools_bringup/rviz/slam_config.rviz

@@ -0,0 +1,499 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /LaserScan1/Topic1
+        - /Cartographer1
+        - /Cartographer1/scan_matched_points21
+      Splitter Ratio: 0.3916349709033966
+    Tree Height: 716
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /Publish Point1
+      - /2D Pose Estimate1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        base_scan:
+          Value: true
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_link:
+          Value: true
+        camera_rgb_frame:
+          Value: true
+        camera_rgb_optical_frame:
+          Value: true
+        caster_back_left_link:
+          Value: true
+        caster_back_right_link:
+          Value: true
+        imu_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        wheel_left_link:
+          Value: true
+        wheel_right_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                base_scan:
+                  {}
+                camera_link:
+                  camera_depth_frame:
+                    camera_depth_optical_frame:
+                      {}
+                  camera_rgb_frame:
+                    camera_rgb_optical_frame:
+                      {}
+                caster_back_left_link:
+                  {}
+                caster_back_right_link:
+                  {}
+                imu_link:
+                  {}
+                wheel_left_link:
+                  {}
+                wheel_right_link:
+                  {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.019999999552965164
+      Style: Boxes
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: false
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odom
+      Value: false
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_common/Group
+          Displays:
+            - Alpha: 0.699999988079071
+              Class: rviz_default_plugins/Map
+              Color Scheme: costmap
+              Draw Behind: true
+              Enabled: true
+              Name: Map
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                Filter size: 10
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /global_costmap/costmap
+              Update Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /global_costmap/costmap_updates
+              Use Timestamp: false
+              Value: true
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz_default_plugins/Path
+              Color: 255; 0; 0
+              Enabled: true
+              Head Diameter: 0.30000001192092896
+              Head Length: 0.20000000298023224
+              Length: 0.30000001192092896
+              Line Style: Lines
+              Line Width: 0.029999999329447746
+              Name: Path
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Pose Color: 255; 85; 255
+              Pose Style: None
+              Radius: 0.029999999329447746
+              Shaft Diameter: 0.10000000149011612
+              Shaft Length: 0.10000000149011612
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                Filter size: 10
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /global_plan
+              Value: true
+          Enabled: true
+          Name: Global Map
+        - Class: rviz_common/Group
+          Displays:
+            - Alpha: 1
+              Class: rviz_default_plugins/Polygon
+              Color: 25; 255; 0
+              Enabled: true
+              Name: Polygon
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                Filter size: 10
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /local_costmap/footprint
+              Value: true
+            - Alpha: 0.699999988079071
+              Class: rviz_default_plugins/Map
+              Color Scheme: costmap
+              Draw Behind: false
+              Enabled: true
+              Name: Map
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                Filter size: 10
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /local_costmap/costmap
+              Update Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /local_costmap/costmap_updates
+              Use Timestamp: false
+              Value: true
+            - Alpha: 1
+              Buffer Length: 1
+              Class: rviz_default_plugins/Path
+              Color: 255; 255; 0
+              Enabled: true
+              Head Diameter: 0.30000001192092896
+              Head Length: 0.20000000298023224
+              Length: 0.30000001192092896
+              Line Style: Lines
+              Line Width: 0.029999999329447746
+              Name: Path
+              Offset:
+                X: 0
+                Y: 0
+                Z: 0
+              Pose Color: 255; 85; 255
+              Pose Style: None
+              Radius: 0.029999999329447746
+              Shaft Diameter: 0.10000000149011612
+              Shaft Length: 0.10000000149011612
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                Filter size: 10
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /local_plan
+              Value: true
+          Enabled: true
+          Name: Local Map
+        - Alpha: 1
+          Arrow Length: 0.05000000074505806
+          Axes Length: 0.30000001192092896
+          Axes Radius: 0.009999999776482582
+          Class: rviz_default_plugins/PoseArray
+          Color: 0; 192; 0
+          Enabled: true
+          Head Length: 0.07000000029802322
+          Head Radius: 0.029999999329447746
+          Name: PoseArray
+          Shaft Length: 0.23000000417232513
+          Shaft Radius: 0.009999999776482582
+          Shape: Arrow (Flat)
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /particlecloud
+          Value: true
+      Enabled: false
+      Name: Navigation
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 0.18203988671302795
+            Min Value: 0.18195410072803497
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 0; 255; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: scan_matched_points2
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.009999999776482582
+          Style: Boxes
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /scan_matched_points2
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: false
+          Name: Trajectories
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /trajectory_node_list
+          Value: false
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: false
+          Name: Constraints
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /constraint_list
+          Value: false
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: false
+          Name: Landmark Poses
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /landmark_poses_list
+          Value: false
+      Enabled: true
+      Name: Cartographer
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /move_base_simple/goal
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: initialpose
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Angle: 0
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 119.26066589355469
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 0.0023878198117017746
+      Y: -0.17037495970726013
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1001
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000017a00000372fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000372000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000236fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000236000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006050000037200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 0
+  Y: 0